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Probabilistic Stand Still Detection using Foot Mounted IMU
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2010 (English)In: Proceedings of the 13th International Conference on Information Fusion, 2010Conference paper, Published paper (Refereed)
Abstract [en]

We consider stand still detection for indoor localization based on observations from a foot-mounted inertial measurement unit (IMU). The main contribution is a statistical framework for stand-still detection, which is a fundamental step in zero velocity update (ZUPT) to reduce the drift from cubic to linear in time. First, the observations are transformed to a test statistic having non-central chi-square distribution during zero velocity. Second, a hidden Markov model is used to describe the mode switching between stand still, walking, running, crawling and other possible movements. The resulting algorithm computes the probability of being in each mode, and it is easily extendable to a dynamic navigation framework where map information can be included. Results of first mode probability estimation, second map matching without ZUPT and third step length estimation with ZUPT are provided.

Place, publisher, year, edition, pages
2010.
Keywords [en]
Indoor localization, Stand still detection, HMM, ZUPT
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-63411ISBN: 978-0-9824438-1-1 (print)OAI: oai:DiVA.org:liu-63411DiVA, id: diva2:379362
Conference
13th International Conference on Information Fusion, Edinburgh, United Kingdom, 26-29 July, 2010
Available from: 2010-12-20 Created: 2010-12-17 Last updated: 2013-07-09Bibliographically approved

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Callmer, JonasTörnqvist, DavidGustafsson, Fredrik

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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